diff options
Diffstat (limited to 'jni/feature_stab/db_vlvm/db_feature_matching.cpp')
-rw-r--r-- | jni/feature_stab/db_vlvm/db_feature_matching.cpp | 3410 |
1 files changed, 3410 insertions, 0 deletions
diff --git a/jni/feature_stab/db_vlvm/db_feature_matching.cpp b/jni/feature_stab/db_vlvm/db_feature_matching.cpp new file mode 100644 index 000000000..d278d0cf6 --- /dev/null +++ b/jni/feature_stab/db_vlvm/db_feature_matching.cpp @@ -0,0 +1,3410 @@ +/* + * Copyright (C) 2011 The Android Open Source Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/*$Id: db_feature_matching.cpp,v 1.4 2011/06/17 14:03:30 mbansal Exp $*/ + +/***************************************************************** +* Lean and mean begins here * +*****************************************************************/ + +#include "db_utilities.h" +#include "db_feature_matching.h" +#ifdef _VERBOSE_ +#include <iostream> +#endif + + +int AffineWarpPoint_NN_LUT_x[11][11]; +int AffineWarpPoint_NN_LUT_y[11][11]; + +float AffineWarpPoint_BL_LUT_x[11][11]; +float AffineWarpPoint_BL_LUT_y[11][11]; + + +inline float db_SignedSquareNormCorr7x7_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) +{ + unsigned char *pf,*pg; + float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; + int xm_f,xm_g; + + xm_f=x_f-3; + xm_g=x_g-3; + fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; + + pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + fg_corr=49.0f*fgsum-fsum*gsum; + den=(49.0f*f2sum-fsum*fsum)*(49.0f*g2sum-gsum*gsum); + if(den!=0.0) + { + if(fg_corr>=0.0) return(fg_corr*fg_corr/den); + return(-fg_corr*fg_corr/den); + } + return(0.0); +} + +inline float db_SignedSquareNormCorr9x9_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) +{ + unsigned char *pf,*pg; + float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; + int xm_f,xm_g; + + xm_f=x_f-4; + xm_g=x_g-4; + fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; + + pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + fg_corr=81.0f*fgsum-fsum*gsum; + den=(81.0f*f2sum-fsum*fsum)*(81.0f*g2sum-gsum*gsum); + if(den!=0.0) + { + if(fg_corr>=0.0) return(fg_corr*fg_corr/den); + return(-fg_corr*fg_corr/den); + } + return(0.0); +} + +inline float db_SignedSquareNormCorr11x11_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) +{ + unsigned char *pf,*pg; + float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; + int xm_f,xm_g; + + xm_f=x_f-5; + xm_g=x_g-5; + fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; + + pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + fg_corr=121.0f*fgsum-fsum*gsum; + den=(121.0f*f2sum-fsum*fsum)*(121.0f*g2sum-gsum*gsum); + if(den!=0.0) + { + if(fg_corr>=0.0) return(fg_corr*fg_corr/den); + return(-fg_corr*fg_corr/den); + } + return(0.0); +} + +inline void db_SignedSquareNormCorr11x11_Pre_u(unsigned char **f_img,int x_f,int y_f,float *sum,float *recip) +{ + unsigned char *pf; + float den; + int f,f2sum,fsum; + int xm_f; + + xm_f=x_f-5; + + pf=f_img[y_f-5]+xm_f; + f= *pf++; f2sum=f*f; fsum=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f-4]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f-3]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f-2]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f-1]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f+1]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f+2]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f+3]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f+4]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f+5]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + *sum= (float) fsum; + den=(121.0f*f2sum-fsum*fsum); + *recip=(float)(((den!=0.0)?1.0/den:0.0)); +} + +inline void db_SignedSquareNormCorr5x5_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) +{ + float den; + int f2sum,fsum; + int xm_f=x_f-2; + +#ifndef DB_USE_SSE2 + const unsigned char *pf; + short f; + + pf=f_img[y_f-2]+xm_f; + f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f-1]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+1]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+2]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + //int xwi; + //int ywi; + //f2sum=0; + //fsum=0; + //for (int r=-5;r<=5;r++){ + // ywi=y_f+r; + // for (int c=-5;c<=5;c++){ + // xwi=x_f+c; + // f=f_img[ywi][xwi]; + // f2sum+=f*f; + // fsum+=f; + // (*patch++)=f; + // } + //} + (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; + (*patch++)=0; (*patch++)=0; +#endif /* DB_USE_SSE2 */ + + *sum= (float) fsum; + den=(25.0f*f2sum-fsum*fsum); + *recip= (float)((den!=0.0)?1.0/den:0.0); +} + +inline void db_SignedSquareNormCorr21x21_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) +{ + float den; + int f2sum,fsum; + int xm_f=x_f-10; + short f; + + int xwi; + int ywi; + f2sum=0; + fsum=0; + for (int r=-10;r<=10;r++){ + ywi=y_f+r; + for (int c=-10;c<=10;c++){ + xwi=x_f+c; + f=f_img[ywi][xwi]; + f2sum+=f*f; + fsum+=f; + (*patch++)=f; + } + } + + for(int i=442; i<512; i++) + (*patch++)=0; + + *sum= (float) fsum; + den=(441.0f*f2sum-fsum*fsum); + *recip= (float)((den!=0.0)?1.0/den:0.0); + + +} + +/* Lay out the image in the patch, computing norm and +*/ +inline void db_SignedSquareNormCorr11x11_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) +{ + float den; + int f2sum,fsum; + int xm_f=x_f-5; + +#ifndef DB_USE_SSE2 + const unsigned char *pf; + short f; + + pf=f_img[y_f-5]+xm_f; + f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f-4]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f-3]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f-2]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f-1]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+1]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+2]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+3]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+4]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+5]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + //int xwi; + //int ywi; + //f2sum=0; + //fsum=0; + //for (int r=-5;r<=5;r++){ + // ywi=y_f+r; + // for (int c=-5;c<=5;c++){ + // xwi=x_f+c; + // f=f_img[ywi][xwi]; + // f2sum+=f*f; + // fsum+=f; + // (*patch++)=f; + // } + //} + + (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; + (*patch++)=0; (*patch++)=0; +#else + const unsigned char *pf0 =f_img[y_f-5]+xm_f; + const unsigned char *pf1 =f_img[y_f-4]+xm_f; + const unsigned char *pf2 =f_img[y_f-3]+xm_f; + const unsigned char *pf3 =f_img[y_f-2]+xm_f; + const unsigned char *pf4 =f_img[y_f-1]+xm_f; + const unsigned char *pf5 =f_img[y_f ]+xm_f; + const unsigned char *pf6 =f_img[y_f+1]+xm_f; + const unsigned char *pf7 =f_img[y_f+2]+xm_f; + const unsigned char *pf8 =f_img[y_f+3]+xm_f; + const unsigned char *pf9 =f_img[y_f+4]+xm_f; + const unsigned char *pf10=f_img[y_f+5]+xm_f; + + /* pixel mask */ + const unsigned char pm[16] = { + 0xFF,0xFF, + 0xFF,0xFF, + 0xFF,0xFF, + 0,0,0,0,0, + 0,0,0,0,0}; + const unsigned char * pm_p = pm; + + _asm + { + mov ecx,patch /* load patch pointer */ + mov ebx, pm_p /* load pixel mask pointer */ + movdqu xmm1,[ebx] /* load pixel mask */ + + pxor xmm5,xmm5 /* set xmm5 to 0 accumulator for sum squares */ + pxor xmm4,xmm4 /* set xmm4 to 0 accumulator for sum */ + pxor xmm0,xmm0 /* set xmm0 to 0 */ + + /* row 0 */ + mov eax,pf0 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqa [ecx+0*22],xmm7 /* move short values to patch */ + movdqa [ecx+0*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* row 1 */ + mov eax,pf1 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqu [ecx+1*22],xmm7 /* move short values to patch */ + movdqu [ecx+1*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* row 2 */ + mov eax,pf2 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqu [ecx+2*22],xmm7 /* move short values to patch */ + movdqu [ecx+2*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* row 3 */ + mov eax,pf3 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqu [ecx+3*22],xmm7 /* move short values to patch */ + movdqu [ecx+3*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* row 4 */ + mov eax,pf4 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqu [ecx+4*22],xmm7 /* move short values to patch */ + movdqu [ecx+4*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* row 5 */ + mov eax,pf5 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqu [ecx+5*22],xmm7 /* move short values to patch */ + movdqu [ecx+5*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* row 6 */ + mov eax,pf6 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqu [ecx+6*22],xmm7 /* move short values to patch */ + movdqu [ecx+6*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* row 7 */ + mov eax,pf7 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqu [ecx+7*22],xmm7 /* move short values to patch */ + movdqu [ecx+7*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* row 8 */ + mov eax,pf8 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqa [ecx+8*22],xmm7 /* move short values to patch */ + movdqa [ecx+8*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* row 9 */ + mov eax,pf9 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqu [ecx+9*22],xmm7 /* move short values to patch */ + movdqu [ecx+9*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* row 10 */ + mov eax,pf10 /* load image pointer */ + movdqu xmm7,[eax] /* load 16 pixels */ + movdqa xmm6,xmm7 + + punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ + punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ + + pand xmm6,xmm1 /* mask out pixels 12-16 */ + + movdqu [ecx+10*22],xmm7 /* move short values to patch */ + movdqu [ecx+10*22+16],xmm6 /* move short values to patch */ + + paddusw xmm4,xmm7 /* accumulate sums */ + pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm7 /* accumulate sum squares */ + + paddw xmm4,xmm6 /* accumulate sums */ + pmaddwd xmm6,xmm6 /* multiply 16 bit ints and add into 32 bit ints */ + paddd xmm5,xmm6 /* accumulate sum squares */ + + /* add up the sum squares */ + movhlps xmm0,xmm5 /* high half to low half */ + paddd xmm5,xmm0 /* add high to low */ + pshuflw xmm0,xmm5, 0xE /* reshuffle */ + paddd xmm5,xmm0 /* add remaining */ + movd f2sum,xmm5 + + /* add up the sum */ + movhlps xmm0,xmm4 + paddw xmm4,xmm0 /* halves added */ + pshuflw xmm0,xmm4,0xE + paddw xmm4,xmm0 /* quarters added */ + pshuflw xmm0,xmm4,0x1 + paddw xmm4,xmm0 /* eighth added */ + movd fsum, xmm4 + + emms + } + + fsum = fsum & 0xFFFF; + + patch[126] = 0; + patch[127] = 0; +#endif /* DB_USE_SSE2 */ + + *sum= (float) fsum; + den=(121.0f*f2sum-fsum*fsum); + *recip= (float)((den!=0.0)?1.0/den:0.0); +} + +void AffineWarpPointOffset(float &r_w,float &c_w,double Hinv[9],int r,int c) +{ + r_w=(float)(Hinv[3]*c+Hinv[4]*r); + c_w=(float)(Hinv[0]*c+Hinv[1]*r); +} + + + +/*! +Prewarp the patches with given affine transform. For a given homogeneous point "x", "H*x" is +the warped point and for any displacement "d" in the warped image resulting in point "y", the +corresponding point in the original image is given by "Hinv*y", which can be simplified for affine H. +If "affine" is 1, then nearest neighbor method is used, else if it is 2, then +bilinear method is used. + */ +inline void db_SignedSquareNormCorr11x11_PreAlign_AffinePatchWarp_u(short *patch,const unsigned char * const *f_img, + int xi,int yi,float *sum,float *recip, + const double Hinv[9],int affine) +{ + float den; + short f; + int f2sum,fsum; + + f2sum=0; + fsum=0; + + if (affine==1) + { + for (int r=0;r<11;r++){ + for (int c=0;c<11;c++){ + f=f_img[yi+AffineWarpPoint_NN_LUT_y[r][c]][xi+AffineWarpPoint_NN_LUT_x[r][c]]; + f2sum+=f*f; + fsum+=f; + (*patch++)=f; + } + } + } + else if (affine==2) + { + for (int r=0;r<11;r++){ + for (int c=0;c<11;c++){ + f=db_BilinearInterpolation(yi+AffineWarpPoint_BL_LUT_y[r][c] + ,xi+AffineWarpPoint_BL_LUT_x[r][c],f_img); + f2sum+=f*f; + fsum+=f; + (*patch++)=f; + } + } + } + + + + (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; + (*patch++)=0; (*patch++)=0; + + *sum= (float) fsum; + den=(121.0f*f2sum-fsum*fsum); + *recip= (float)((den!=0.0)?1.0/den:0.0); +} + + +inline float db_SignedSquareNormCorr11x11_Post_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g, + float fsum_gsum,float f_recip_g_recip) +{ + unsigned char *pf,*pg; + int fgsum; + float fg_corr; + int xm_f,xm_g; + + xm_f=x_f-5; + xm_g=x_g-5; + + pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; + fgsum=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + fg_corr=121.0f*fgsum-fsum_gsum; + if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); + return(-fg_corr*fg_corr*f_recip_g_recip); +} + +float db_SignedSquareNormCorr21x21Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) +{ + float fgsum,fg_corr; + + fgsum= (float) db_ScalarProduct512_s(f_patch,g_patch); + + fg_corr=441.0f*fgsum-fsum_gsum; + if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); + return(-fg_corr*fg_corr*f_recip_g_recip); +} + + +float db_SignedSquareNormCorr11x11Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) +{ + float fgsum,fg_corr; + + fgsum= (float) db_ScalarProduct128_s(f_patch,g_patch); + + fg_corr=121.0f*fgsum-fsum_gsum; + if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); + return(-fg_corr*fg_corr*f_recip_g_recip); +} + +float db_SignedSquareNormCorr5x5Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) +{ + float fgsum,fg_corr; + + fgsum= (float) db_ScalarProduct32_s(f_patch,g_patch); + + fg_corr=25.0f*fgsum-fsum_gsum; + if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); + return(-fg_corr*fg_corr*f_recip_g_recip); +} + + +inline float db_SignedSquareNormCorr15x15_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) +{ + unsigned char *pf,*pg; + float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; + int xm_f,xm_g; + + xm_f=x_f-7; + xm_g=x_g-7; + fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; + + pf=f_img[y_f-7]+xm_f; pg=g_img[y_g-7]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-6]+xm_f; pg=g_img[y_g-6]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+6]+xm_f; pg=g_img[y_g+6]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+7]+xm_f; pg=g_img[y_g+7]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + fg_corr=225.0f*fgsum-fsum*gsum; + den=(225.0f*f2sum-fsum*fsum)*(225.0f*g2sum-gsum*gsum); + if(den!=0.0) + { + if(fg_corr>=0.0) return(fg_corr*fg_corr/den); + return(-fg_corr*fg_corr/den); + } + return(0.0); +} + +inline float db_SignedSquareNormCorr7x7_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) +{ + float f,g,*pf,*pg,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; + int xm_f,xm_g; + + xm_f=x_f-3; + xm_g=x_g-3; + fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; + + pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + fg_corr=49.0f*fgsum-fsum*gsum; + den=(49.0f*f2sum-fsum*fsum)*(49.0f*g2sum-gsum*gsum); + if(den!=0.0) + { + if(fg_corr>=0.0) return(fg_corr*fg_corr/den); + return(-fg_corr*fg_corr/den); + } + return(0.0); +} + +inline float db_SignedSquareNormCorr9x9_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) +{ + float f,g,*pf,*pg,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; + int xm_f,xm_g; + + xm_f=x_f-4; + xm_g=x_g-4; + fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; + + pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + fg_corr=81.0f*fgsum-fsum*gsum; + den=(81.0f*f2sum-fsum*fsum)*(81.0f*g2sum-gsum*gsum); + if(den!=0.0) + { + if(fg_corr>=0.0) return(fg_corr*fg_corr/den); + return(-fg_corr*fg_corr/den); + } + return(0.0); +} + +inline float db_SignedSquareNormCorr11x11_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) +{ + float *pf,*pg; + float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; + int xm_f,xm_g; + + xm_f=x_f-5; + xm_g=x_g-5; + fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; + + pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + fg_corr=121.0f*fgsum-fsum*gsum; + den=(121.0f*f2sum-fsum*fsum)*(121.0f*g2sum-gsum*gsum); + if(den!=0.0) + { + if(fg_corr>=0.0) return(fg_corr*fg_corr/den); + return(-fg_corr*fg_corr/den); + } + return(0.0); +} + +inline void db_SignedSquareNormCorr11x11_Pre_f(float **f_img,int x_f,int y_f,float *sum,float *recip) +{ + float *pf,den; + float f,f2sum,fsum; + int xm_f; + + xm_f=x_f-5; + + pf=f_img[y_f-5]+xm_f; + f= *pf++; f2sum=f*f; fsum=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f-4]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f-3]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f-2]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f-1]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f+1]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f+2]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f+3]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f+4]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + pf=f_img[y_f+5]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf++; f2sum+=f*f; fsum+=f; + f= *pf; f2sum+=f*f; fsum+=f; + + *sum=fsum; + den=(121.0f*f2sum-fsum*fsum); + *recip= (float) ((den!=0.0)?1.0/den:0.0); +} + +inline void db_SignedSquareNormCorr11x11_PreAlign_f(float *patch,const float * const *f_img,int x_f,int y_f,float *sum,float *recip) +{ + const float *pf; + float den,f,f2sum,fsum; + int xm_f; + + xm_f=x_f-5; + + pf=f_img[y_f-5]+xm_f; + f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f-4]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f-3]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f-2]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f-1]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+1]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+2]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+3]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+4]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + pf=f_img[y_f+5]+xm_f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; + f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; + + (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; + (*patch++)=0.0; (*patch++)=0.0; + + *sum=fsum; + den=(121.0f*f2sum-fsum*fsum); + *recip= (float) ((den!=0.0)?1.0/den:0.0); +} + +inline float db_SignedSquareNormCorr11x11_Post_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g, + float fsum_gsum,float f_recip_g_recip) +{ + float *pf,*pg; + float fgsum,fg_corr; + int xm_f,xm_g; + + xm_f=x_f-5; + xm_g=x_g-5; + + pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; + fgsum=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); + fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); + + fg_corr=121.0f*fgsum-fsum_gsum; + if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); + return(-fg_corr*fg_corr*f_recip_g_recip); +} + +inline float db_SignedSquareNormCorr11x11Aligned_Post_f(const float *f_patch,const float *g_patch,float fsum_gsum,float f_recip_g_recip) +{ + float fgsum,fg_corr; + + fgsum=db_ScalarProduct128Aligned16_f(f_patch,g_patch); + + fg_corr=121.0f*fgsum-fsum_gsum; + if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); + return(-fg_corr*fg_corr*f_recip_g_recip); +} + +inline float db_SignedSquareNormCorr15x15_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) +{ + float *pf,*pg; + float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; + int xm_f,xm_g; + + xm_f=x_f-7; + xm_g=x_g-7; + fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; + + pf=f_img[y_f-7]+xm_f; pg=g_img[y_g-7]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-6]+xm_f; pg=g_img[y_g-6]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+6]+xm_f; pg=g_img[y_g+6]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + pf=f_img[y_f+7]+xm_f; pg=g_img[y_g+7]+xm_g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; + + fg_corr=225.0f*fgsum-fsum*gsum; + den=(225.0f*f2sum-fsum*fsum)*(225.0f*g2sum-gsum*gsum); + if(den!=0.0) + { + if(fg_corr>=0.0) return(fg_corr*fg_corr/den); + return(-fg_corr*fg_corr/den); + } + return(0.0); +} + +db_Bucket_f** db_AllocBuckets_f(int nr_h,int nr_v,int bd) +{ + int i,j; + db_Bucket_f **bp,*b; + + b=new db_Bucket_f [(nr_h+2)*(nr_v+2)]; + bp=new db_Bucket_f* [(nr_v+2)]; + bp=bp+1; + for(i= -1;i<=nr_v;i++) + { + bp[i]=b+1+(nr_h+2)*(i+1); + for(j= -1;j<=nr_h;j++) + { + bp[i][j].ptr=new db_PointInfo_f [bd]; + } + } + + return(bp); +} + +db_Bucket_u** db_AllocBuckets_u(int nr_h,int nr_v,int bd) +{ + int i,j; + db_Bucket_u **bp,*b; + + b=new db_Bucket_u [(nr_h+2)*(nr_v+2)]; + bp=new db_Bucket_u* [(nr_v+2)]; + bp=bp+1; + for(i= -1;i<=nr_v;i++) + { + bp[i]=b+1+(nr_h+2)*(i+1); + for(j= -1;j<=nr_h;j++) + { + bp[i][j].ptr=new db_PointInfo_u [bd]; + } + } + + return(bp); +} + +void db_FreeBuckets_f(db_Bucket_f **bp,int nr_h,int nr_v) +{ + int i,j; + + for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) + { + delete [] bp[i][j].ptr; + } + delete [] (bp[-1]-1); + delete [] (bp-1); +} + +void db_FreeBuckets_u(db_Bucket_u **bp,int nr_h,int nr_v) +{ + int i,j; + + for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) + { + delete [] bp[i][j].ptr; + } + delete [] (bp[-1]-1); + delete [] (bp-1); +} + +void db_EmptyBuckets_f(db_Bucket_f **bp,int nr_h,int nr_v) +{ + int i,j; + for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) bp[i][j].nr=0; +} + +void db_EmptyBuckets_u(db_Bucket_u **bp,int nr_h,int nr_v) +{ + int i,j; + for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) bp[i][j].nr=0; +} + +float* db_FillBuckets_f(float *patch_space,const float * const *f_img,db_Bucket_f **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners) +{ + int i,xi,yi,xpos,ypos,nr; + db_Bucket_f *br; + db_PointInfo_f *pir; + + db_EmptyBuckets_f(bp,nr_h,nr_v); + for(i=0;i<nr_corners;i++) + { + xi=(int) x[i]; + yi=(int) y[i]; + xpos=xi/bw; + ypos=yi/bh; + if(xpos>=0 && xpos<nr_h && ypos>=0 && ypos<nr_v) + { + br=&bp[ypos][xpos]; + nr=br->nr; + if(nr<bd) + { + pir=&(br->ptr[nr]); + pir->x=xi; + pir->y=yi; + pir->id=i; + pir->pir=0; + pir->patch=patch_space; + br->nr=nr+1; + + db_SignedSquareNormCorr11x11_PreAlign_f(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); + patch_space+=128; + } + } + } + return(patch_space); +} + +short* db_FillBuckets_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners,int use_smaller_matching_window, int use_21) +{ + int i,xi,yi,xpos,ypos,nr; + db_Bucket_u *br; + db_PointInfo_u *pir; + + db_EmptyBuckets_u(bp,nr_h,nr_v); + for(i=0;i<nr_corners;i++) + { + xi=(int)db_roundi(x[i]); + yi=(int)db_roundi(y[i]); + xpos=xi/bw; + ypos=yi/bh; + if(xpos>=0 && xpos<nr_h && ypos>=0 && ypos<nr_v) + { + br=&bp[ypos][xpos]; + nr=br->nr; + if(nr<bd) + { + pir=&(br->ptr[nr]); + pir->x=xi; + pir->y=yi; + pir->id=i; + pir->pir=0; + pir->patch=patch_space; + br->nr=nr+1; + + if(use_21) + { + db_SignedSquareNormCorr21x21_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); + patch_space+=512; + } + else + { + if(!use_smaller_matching_window) + { + db_SignedSquareNormCorr11x11_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); + patch_space+=128; + } + else + { + db_SignedSquareNormCorr5x5_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); + patch_space+=32; + } + } + } + } + } + return(patch_space); +} + + + +float* db_FillBucketsPrewarped_f(float *patch_space,const float *const *f_img,db_Bucket_f **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners,const double H[9]) +{ + int i,xi,yi,xpos,ypos,nr,wxi,wyi; + db_Bucket_f *br; + db_PointInfo_f *pir; + double xd[2],wx[2]; + + db_EmptyBuckets_f(bp,nr_h,nr_v); + for(i=0;i<nr_corners;i++) + { + xd[0]=x[i]; + xd[1]=y[i]; + xi=(int) xd[0]; + yi=(int) xd[1]; + db_ImageHomographyInhomogenous(wx,H,xd); + wxi=(int) wx[0]; + wyi=(int) wx[1]; + + xpos=((wxi+bw)/bw)-1; + ypos=((wyi+bh)/bh)-1; + if(xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) + { + br=&bp[ypos][xpos]; + nr=br->nr; + if(nr<bd) + { + pir=&(br->ptr[nr]); + pir->x=wxi; + pir->y=wyi; + pir->id=i; + pir->pir=0; + pir->patch=patch_space; + br->nr=nr+1; + + db_SignedSquareNormCorr11x11_PreAlign_f(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); + patch_space+=128; + } + } + } + return(patch_space); +} + +short* db_FillBucketsPrewarped_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp, + int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y, + int nr_corners,const double H[9]) +{ + int i,xi,yi,xpos,ypos,nr,wxi,wyi; + db_Bucket_u *br; + db_PointInfo_u *pir; + double xd[2],wx[2]; + + db_EmptyBuckets_u(bp,nr_h,nr_v); + for(i=0;i<nr_corners;i++) + { + xd[0]=x[i]; + xd[1]=y[i]; + xi=(int) db_roundi(xd[0]); + yi=(int) db_roundi(xd[1]); + db_ImageHomographyInhomogenous(wx,H,xd); + wxi=(int) wx[0]; + wyi=(int) wx[1]; + + xpos=((wxi+bw)/bw)-1; + ypos=((wyi+bh)/bh)-1; + if(xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) + { + br=&bp[ypos][xpos]; + nr=br->nr; + if(nr<bd) + { + pir=&(br->ptr[nr]); + pir->x=wxi; + pir->y=wyi; + pir->id=i; + pir->pir=0; + pir->patch=patch_space; + br->nr=nr+1; + + db_SignedSquareNormCorr11x11_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); + patch_space+=128; + } + } + } + return(patch_space); +} + + + +short* db_FillBucketsPrewarpedAffine_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp, + int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y, + int nr_corners,const double H[9],const double Hinv[9],const int warpboundsp[4], + int affine) +{ + int i,xi,yi,xpos,ypos,nr,wxi,wyi; + db_Bucket_u *br; + db_PointInfo_u *pir; + double xd[2],wx[2]; + + db_EmptyBuckets_u(bp,nr_h,nr_v); + for(i=0;i<nr_corners;i++) + { + xd[0]=x[i]; + xd[1]=y[i]; + xi=(int) db_roundi(xd[0]); + yi=(int) db_roundi(xd[1]); + db_ImageHomographyInhomogenous(wx,H,xd); + wxi=(int) wx[0]; + wyi=(int) wx[1]; + + xpos=((wxi+bw)/bw)-1; + ypos=((wyi+bh)/bh)-1; + + + if (xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) + { + if( xi>warpboundsp[0] && xi<warpboundsp[1] && yi>warpboundsp[2] && yi<warpboundsp[3]) + { + + br=&bp[ypos][xpos]; + nr=br->nr; + if(nr<bd) + { + pir=&(br->ptr[nr]); + pir->x=wxi; + pir->y=wyi; + pir->id=i; + pir->pir=0; + pir->patch=patch_space; + br->nr=nr+1; + + db_SignedSquareNormCorr11x11_PreAlign_AffinePatchWarp_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip),Hinv,affine); + patch_space+=128; + } + } + } + } + return(patch_space); +} + + + +inline void db_MatchPointPair_f(db_PointInfo_f *pir_l,db_PointInfo_f *pir_r, + unsigned long kA,unsigned long kB) +{ + int x_l,y_l,x_r,y_r,xm,ym; + double score; + + x_l=pir_l->x; + y_l=pir_l->y; + x_r=pir_r->x; + y_r=pir_r->y; + xm=x_l-x_r; + ym=y_l-y_r; + /*Check if disparity is within the maximum disparity + with the formula xm^2*256+ym^2*kA<kB + where kA=256*w^2/h^2 + and kB=256*max_disp^2*w^2*/ + if(((xm*xm)<<8)+ym*ym*kA<kB) + { + /*Correlate*/ + score=db_SignedSquareNormCorr11x11Aligned_Post_f(pir_l->patch,pir_r->patch, + (pir_l->sum)*(pir_r->sum), + (pir_l->recip)*(pir_r->recip)); + + if((!(pir_l->pir)) || (score>pir_l->s)) + { + /*Update left corner*/ + pir_l->s=score; + pir_l->pir=pir_r; + } + if((!(pir_r->pir)) || (score>pir_r->s)) + { + /*Update right corner*/ + pir_r->s=score; + pir_r->pir=pir_l; + } + } +} + +inline void db_MatchPointPair_u(db_PointInfo_u *pir_l,db_PointInfo_u *pir_r, + unsigned long kA,unsigned long kB, unsigned int rect_window,bool use_smaller_matching_window, int use_21) +{ + int xm,ym; + double score; + bool compute_score; + + + if( rect_window ) + compute_score = ((unsigned)db_absi(pir_l->x - pir_r->x)<kA && (unsigned)db_absi(pir_l->y - pir_r->y)<kB); + else + { /*Check if disparity is within the maximum disparity + with the formula xm^2*256+ym^2*kA<kB + where kA=256*w^2/h^2 + and kB=256*max_disp^2*w^2*/ + xm= pir_l->x - pir_r->x; + ym= pir_l->y - pir_r->y; + compute_score = ((xm*xm)<<8)+ym*ym*kA < kB; + } + + if ( compute_score ) + { + if(use_21) + { + score=db_SignedSquareNormCorr21x21Aligned_Post_s(pir_l->patch,pir_r->patch, + (pir_l->sum)*(pir_r->sum), + (pir_l->recip)*(pir_r->recip)); + } + else + { + /*Correlate*/ + if(!use_smaller_matching_window) + { + score=db_SignedSquareNormCorr11x11Aligned_Post_s(pir_l->patch,pir_r->patch, + (pir_l->sum)*(pir_r->sum), + (pir_l->recip)*(pir_r->recip)); + } + else + { + score=db_SignedSquareNormCorr5x5Aligned_Post_s(pir_l->patch,pir_r->patch, + (pir_l->sum)*(pir_r->sum), + (pir_l->recip)*(pir_r->recip)); + } + } + + if((!(pir_l->pir)) || (score>pir_l->s)) + { + /*Update left corner*/ + pir_l->s=score; + pir_l->pir=pir_r; + } + if((!(pir_r->pir)) || (score>pir_r->s)) + { + /*Update right corner*/ + pir_r->s=score; + pir_r->pir=pir_l; + } + } +} + +inline void db_MatchPointAgainstBucket_f(db_PointInfo_f *pir_l,db_Bucket_f *b_r, + unsigned long kA,unsigned long kB) +{ + int p_r,nr; + db_PointInfo_f *pir_r; + + nr=b_r->nr; + pir_r=b_r->ptr; + for(p_r=0;p_r<nr;p_r++) db_MatchPointPair_f(pir_l,pir_r+p_r,kA,kB); +} + +inline void db_MatchPointAgainstBucket_u(db_PointInfo_u *pir_l,db_Bucket_u *b_r, + unsigned long kA,unsigned long kB,int rect_window, bool use_smaller_matching_window, int use_21) +{ + int p_r,nr; + db_PointInfo_u *pir_r; + + nr=b_r->nr; + pir_r=b_r->ptr; + + for(p_r=0;p_r<nr;p_r++) db_MatchPointPair_u(pir_l,pir_r+p_r,kA,kB, rect_window, use_smaller_matching_window, use_21); + +} + +void db_MatchBuckets_f(db_Bucket_f **bp_l,db_Bucket_f **bp_r,int nr_h,int nr_v, + unsigned long kA,unsigned long kB) +{ + int i,j,k,a,b,br_nr; + db_Bucket_f *br; + db_PointInfo_f *pir_l; + + /*For all buckets*/ + for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) + { + br=&bp_l[i][j]; + br_nr=br->nr; + /*For all points in bucket*/ + for(k=0;k<br_nr;k++) + { + pir_l=br->ptr+k; + for(a=i-1;a<=i+1;a++) + { + for(b=j-1;b<=j+1;b++) + { + db_MatchPointAgainstBucket_f(pir_l,&bp_r[a][b],kA,kB); + } + } + } + } +} + +void db_MatchBuckets_u(db_Bucket_u **bp_l,db_Bucket_u **bp_r,int nr_h,int nr_v, + unsigned long kA,unsigned long kB,int rect_window,bool use_smaller_matching_window, int use_21) +{ + int i,j,k,a,b,br_nr; + db_Bucket_u *br; + db_PointInfo_u *pir_l; + + /*For all buckets*/ + for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) + { + br=&bp_l[i][j]; + br_nr=br->nr; + /*For all points in bucket*/ + for(k=0;k<br_nr;k++) + { + pir_l=br->ptr+k; + for(a=i-1;a<=i+1;a++) + { + for(b=j-1;b<=j+1;b++) + { + db_MatchPointAgainstBucket_u(pir_l,&bp_r[a][b],kA,kB,rect_window,use_smaller_matching_window, use_21); + } + } + } + } +} + +void db_CollectMatches_f(db_Bucket_f **bp_l,int nr_h,int nr_v,unsigned long target,int *id_l,int *id_r,int *nr_matches) +{ + int i,j,k,br_nr; + unsigned long count; + db_Bucket_f *br; + db_PointInfo_f *pir,*pir2; + + count=0; + /*For all buckets*/ + for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) + { + br=&bp_l[i][j]; + br_nr=br->nr; + /*For all points in bucket*/ + for(k=0;k<br_nr;k++) + { + pir=br->ptr+k; + pir2=pir->pir; + if(pir2) + { + /*This point has a best match*/ + if((pir2->pir)==pir) + { + /*We have a mutually consistent match*/ + if(count<target) + { + id_l[count]=pir->id; + id_r[count]=pir2->id; + count++; + } + } + } + } + } + *nr_matches=count; +} + +void db_CollectMatches_u(db_Bucket_u **bp_l,int nr_h,int nr_v,unsigned long target,int *id_l,int *id_r,int *nr_matches) +{ + int i,j,k,br_nr; + unsigned long count; + db_Bucket_u *br; + db_PointInfo_u *pir,*pir2; + + count=0; + /*For all buckets*/ + for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) + { + br=&bp_l[i][j]; + br_nr=br->nr; + /*For all points in bucket*/ + for(k=0;k<br_nr;k++) + { + pir=br->ptr+k; + pir2=pir->pir; + if(pir2) + { + /*This point has a best match*/ + if((pir2->pir)==pir) + { + /*We have a mutually consistent match*/ + if(count<target) + { + id_l[count]=pir->id; + id_r[count]=pir2->id; + count++; + } + } + } + } + } + *nr_matches=count; +} + +db_Matcher_f::db_Matcher_f() +{ + m_w=0; m_h=0; +} + +db_Matcher_f::~db_Matcher_f() +{ + Clean(); +} + +void db_Matcher_f::Clean() +{ + if(m_w) + { + /*Free buckets*/ + db_FreeBuckets_f(m_bp_l,m_nr_h,m_nr_v); + db_FreeBuckets_f(m_bp_r,m_nr_h,m_nr_v); + /*Free space for patch layouts*/ + delete [] m_patch_space; + } + m_w=0; m_h=0; +} + +unsigned long db_Matcher_f::Init(int im_width,int im_height,double max_disparity,int target_nr_corners) +{ + Clean(); + m_w=im_width; + m_h=im_height; + m_bw=db_maxi(1,(int) (max_disparity*((double)im_width))); + m_bh=db_maxi(1,(int) (max_disparity*((double)im_height))); + m_nr_h=1+(im_width-1)/m_bw; + m_nr_v=1+(im_height-1)/m_bh; + m_bd=db_maxi(1,(int)(((double)target_nr_corners)* + max_disparity*max_disparity)); + m_target=target_nr_corners; + m_kA=(long)(256.0*((double)(m_w*m_w))/((double)(m_h*m_h))); + m_kB=(long)(256.0*max_disparity*max_disparity*((double)(m_w*m_w))); + + /*Alloc bucket structure*/ + m_bp_l=db_AllocBuckets_f(m_nr_h,m_nr_v,m_bd); + m_bp_r=db_AllocBuckets_f(m_nr_h,m_nr_v,m_bd); + + /*Alloc 16byte-aligned space for patch layouts*/ + m_patch_space=new float [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*128+16]; + m_aligned_patch_space=db_AlignPointer_f(m_patch_space,16); + + return(m_target); +} + +void db_Matcher_f::Match(const float * const *l_img,const float * const *r_img, + const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, + int *id_l,int *id_r,int *nr_matches,const double H[9]) +{ + float *ps; + + /*Insert the corners into bucket structure*/ + ps=db_FillBuckets_f(m_aligned_patch_space,l_img,m_bp_l,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_l,y_l,nr_l); + if(H==0) db_FillBuckets_f(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r); + else db_FillBucketsPrewarped_f(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,H); + + /*Compute all the necessary match scores*/ + db_MatchBuckets_f(m_bp_l,m_bp_r,m_nr_h,m_nr_v,m_kA,m_kB); + + /*Collect the correspondences*/ + db_CollectMatches_f(m_bp_l,m_nr_h,m_nr_v,m_target,id_l,id_r,nr_matches); +} + +db_Matcher_u::db_Matcher_u() +{ + m_w=0; m_h=0; + m_rect_window = 0; + m_bw=m_bh=m_nr_h=m_nr_v=m_bd=m_target=0; + m_bp_l=m_bp_r=0; + m_patch_space=m_aligned_patch_space=0; +} + +db_Matcher_u::db_Matcher_u(const db_Matcher_u& cm) +{ + Init(cm.m_w, cm.m_h, cm.m_max_disparity, cm.m_target, cm.m_max_disparity_v); +} + +db_Matcher_u& db_Matcher_u::operator= (const db_Matcher_u& cm) +{ + if ( this == &cm ) return *this; + Init(cm.m_w, cm.m_h, cm.m_max_disparity, cm.m_target, cm.m_max_disparity_v); + return *this; +} + + +db_Matcher_u::~db_Matcher_u() +{ + Clean(); +} + +void db_Matcher_u::Clean() +{ + if(m_w) + { + /*Free buckets*/ + db_FreeBuckets_u(m_bp_l,m_nr_h,m_nr_v); + db_FreeBuckets_u(m_bp_r,m_nr_h,m_nr_v); + /*Free space for patch layouts*/ + delete [] m_patch_space; + } + m_w=0; m_h=0; +} + + +unsigned long db_Matcher_u::Init(int im_width,int im_height,double max_disparity,int target_nr_corners, + double max_disparity_v, bool use_smaller_matching_window, int use_21) +{ + Clean(); + m_w=im_width; + m_h=im_height; + m_max_disparity=max_disparity; + m_max_disparity_v=max_disparity_v; + + if ( max_disparity_v != DB_DEFAULT_NO_DISPARITY ) + { + m_rect_window = 1; + + m_bw=db_maxi(1,(int)(max_disparity*((double)im_width))); + m_bh=db_maxi(1,(int)(max_disparity_v*((double)im_height))); + + m_bd=db_maxi(1,(int)(((double)target_nr_corners)*max_disparity*max_disparity_v)); + + m_kA=(int)(max_disparity*m_w); + m_kB=(int)(max_disparity_v*m_h); + + } else + { + m_bw=(int)db_maxi(1,(int)(max_disparity*((double)im_width))); + m_bh=(int)db_maxi(1,(int)(max_disparity*((double)im_height))); + + m_bd=db_maxi(1,(int)(((double)target_nr_corners)*max_disparity*max_disparity)); + + m_kA=(long)(256.0*((double)(m_w*m_w))/((double)(m_h*m_h))); + m_kB=(long)(256.0*max_disparity*max_disparity*((double)(m_w*m_w))); + } + + m_nr_h=1+(im_width-1)/m_bw; + m_nr_v=1+(im_height-1)/m_bh; + + m_target=target_nr_corners; + + /*Alloc bucket structure*/ + m_bp_l=db_AllocBuckets_u(m_nr_h,m_nr_v,m_bd); + m_bp_r=db_AllocBuckets_u(m_nr_h,m_nr_v,m_bd); + + m_use_smaller_matching_window = use_smaller_matching_window; + m_use_21 = use_21; + + if(m_use_21) + { + /*Alloc 64byte-aligned space for patch layouts*/ + m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*512+64]; + m_aligned_patch_space=db_AlignPointer_s(m_patch_space,64); + } + else + { + if(!m_use_smaller_matching_window) + { + /*Alloc 16byte-aligned space for patch layouts*/ + m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*128+16]; + m_aligned_patch_space=db_AlignPointer_s(m_patch_space,16); + } + else + { + /*Alloc 4byte-aligned space for patch layouts*/ + m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*32+4]; + m_aligned_patch_space=db_AlignPointer_s(m_patch_space,4); + } + } + + return(m_target); +} + +void db_Matcher_u::Match(const unsigned char * const *l_img,const unsigned char * const *r_img, + const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, + int *id_l,int *id_r,int *nr_matches,const double H[9],int affine) +{ + short *ps; + + /*Insert the corners into bucket structure*/ + ps=db_FillBuckets_u(m_aligned_patch_space,l_img,m_bp_l,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_l,y_l,nr_l,m_use_smaller_matching_window,m_use_21); + if(H==0) + db_FillBuckets_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,m_use_smaller_matching_window,m_use_21); + else + { + if (affine) + { + double Hinv[9]; + db_InvertAffineTransform(Hinv,H); + float r_w, c_w; + float stretch_x[2]; + float stretch_y[2]; + AffineWarpPointOffset(r_w,c_w,Hinv, 5,5); + stretch_x[0]=db_absf(c_w);stretch_y[0]=db_absf(r_w); + AffineWarpPointOffset(r_w,c_w,Hinv, 5,-5); + stretch_x[1]=db_absf(c_w);stretch_y[1]=db_absf(r_w); + int max_stretxh_x=(int) (db_maxd(stretch_x[0],stretch_x[1])); + int max_stretxh_y=(int) (db_maxd(stretch_y[0],stretch_y[1])); + int warpbounds[4]={max_stretxh_x,m_w-1-max_stretxh_x,max_stretxh_y,m_h-1-max_stretxh_y}; + + for (int r=-5;r<=5;r++){ + for (int c=-5;c<=5;c++){ + AffineWarpPointOffset(r_w,c_w,Hinv,r,c); + AffineWarpPoint_BL_LUT_y[r+5][c+5]=r_w; + AffineWarpPoint_BL_LUT_x[r+5][c+5]=c_w; + + AffineWarpPoint_NN_LUT_y[r+5][c+5]=db_roundi(r_w); + AffineWarpPoint_NN_LUT_x[r+5][c+5]=db_roundi(c_w); + + } + } + + db_FillBucketsPrewarpedAffine_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd, + x_r,y_r,nr_r,H,Hinv,warpbounds,affine); + } + else + db_FillBucketsPrewarped_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,H); + } + + + /*Compute all the necessary match scores*/ + db_MatchBuckets_u(m_bp_l,m_bp_r,m_nr_h,m_nr_v,m_kA,m_kB, m_rect_window,m_use_smaller_matching_window,m_use_21); + + /*Collect the correspondences*/ + db_CollectMatches_u(m_bp_l,m_nr_h,m_nr_v,m_target,id_l,id_r,nr_matches); +} + +int db_Matcher_u::IsAllocated() +{ + return (int)(m_w != 0); +} |